Upload policy weights, train config and readme

README.md

@@ -1,13 +1,13 @@
 ---
-datasets: local/so101_cubes
+datasets: binhpham/sim_so101_cubes
 library_name: lerobot
 license: apache-2.0
 model_name: act
 pipeline_tag: robotics
 tags:
-- robotics
-- lerobot
 - act
+- lerobot
+- robotics
 ---
 
 # Model Card for act

config.json

@@ -33,7 +33,7 @@
             ]
         }
     },
-    "device": "mps",
+    "device": "cuda",
     "use_amp": false,
     "use_peft": false,
     "push_to_hub": true,
@@ -59,7 +59,7 @@
     "feedforward_activation": "relu",
     "n_encoder_layers": 4,
     "n_decoder_layers": 1,
-    "use_vae": true,
+    "use_vae": false,
     "latent_dim": 32,
     "n_vae_encoder_layers": 4,
     "temporal_ensemble_coeff": null,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b0a7407661b6e386a22cb5efdaa436524668828ad776e307d2eebfe42f25b644
-size 206699736
+oid sha256:1bacf8069cb2ad19399eff2ac4d3bf62f7eb29d9df81ea1c873ad465b67e0362
+size 136991456

train_config.json

@@ -1,7 +1,7 @@
 {
     "dataset": {
-        "repo_id": "local/so101_cubes",
-        "root": "../data/local/so101_cubes",
+        "repo_id": "binhpham/sim_so101_cubes",
+        "root": null,
         "episodes": null,
         "image_transforms": {
             "enable": false,
@@ -115,7 +115,7 @@
                 ]
             }
         },
-        "device": "mps",
+        "device": "cuda",
         "use_amp": false,
         "use_peft": false,
         "push_to_hub": true,
@@ -141,7 +141,7 @@
         "feedforward_activation": "relu",
         "n_encoder_layers": 4,
         "n_decoder_layers": 1,
-        "use_vae": true,
+        "use_vae": false,
         "latent_dim": 32,
         "n_vae_encoder_layers": 4,
         "temporal_ensemble_coeff": null,
@@ -151,12 +151,13 @@
         "optimizer_weight_decay": 0.0001,
         "optimizer_lr_backbone": 1e-05
     },
-    "output_dir": "outputs/train/act_cubes",
+    "output_dir": "outputs/act_cubes_novae",
     "job_name": "act",
     "resume": false,
     "seed": 1000,
+    "cudnn_deterministic": false,
     "num_workers": 4,
-    "batch_size": 8,
+    "batch_size": 64,
     "steps": 20000,
     "eval_freq": 20000,
     "log_freq": 200,
@@ -188,7 +189,8 @@
         "entity": null,
         "notes": null,
         "run_id": null,
-        "mode": null
+        "mode": null,
+        "add_tags": true
     },
     "peft": null,
     "use_rabc": false,